Multi-variable rate dispensing system for agricultural machine

ABSTRACT

An improved mobile agricultural products application system including a multi-variable rate dispensing system particularly adaptable for use in site-specific farming, wherein selected discrete crop input delivery information unique to selected on-board crop input storage devices, and/or crop input transport systems, and/or crop input dispensing points is combined with anticipated field reference point data obtained with a machine positioning system, e.g. &#34;Dead Reckoning&#34;, GPS, and/or radar, and a computer, to direct independent functioning of selected on-board storage devices, material transport systems, crop input release mechanisms and/or dispensing point mechanisms to ensure stored crop inputs are released and combined to vary a prescription of delivered crop inputs in a direction substantially transverse to the direction of machine travel as the crop input applicator machine(s) travels over a predetermined geographic land area. The improved system can selectively and exclusively accommodate precise application of seeds, or can optionally accommodate seed application in combination with other crop inputs. The multi-variable rate dispensing system provides environmental advantages to all through enhanced resource management by more accurately and precisely placing crop inputs resulting in a significant reduction in wasted resources.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This patent application is a continuation of U.S. patent applicationSer. No. 08/940,345, entitled Multi-variable Rate Dispensing System forAgricultural Machines, filed Sep. 30, 1997, now U.S. Pat. No. 5,913,915.

BACKGROUND OF THE INVENTION

This present invention relates generally to agricultural productapplicator systems, and more particularly to a multi-variable dispensingrate agricultural products (crop inputs) applicator system forcontrolling crop input dispensing points across a spreader boom,planter, seeder and various other crop input applicator devicessubstantially transverse to their direction of travel in response to acomputerized control system which stores a digital soil map of thelocation of various soil types, topographical features, and/orcharacteristics such as nutrient levels, soil compaction, drainage orany other qualifying crop production characteristic.

Various agricultural product applicator systems and associated methodsof control have been suggested at one time or another, but in eachinstance, these systems leave something to be desired. For example,there is a need for a variable rate applicator system that ensuresagricultural products dispensed from a boom, planter, seeder or othercrop input applicator device are accurately and precisely dispensedhorizontal and substantially transverse to their direction of travelwhenever it is desirable to deliver agricultural products (crop inputs)individually from multiple dispensing points attached to the applicatormachine as the machine traverses a desired product delivery area.Significant changes in soil conditions, topographical features, and/orcharacteristics such as nutrient levels, soil compaction, drainage orother qualifying crop production characteristics, have been found by thepresent inventor, to occur even within a distance of a few feet. Forexample, it now known that fertility levels are a lot like surfacetopography. Although the fertility levels cannot be seen, they stillexist. Therefore, the importance of tighter control of crop inputapplication has and will continue to become more relevant and necessary.The agricultural industry has not yet recognized the necessity or eventhe existence of the aforesaid horizontal variation problem. In a fewresearch situations, rapid changes in soil conditions have been noticed,but little or no consideration has been given to resolution of theproblems related to accomplish accurate dispensing of crop inputshorizontal and substantially transverse to their direction of travel.This problem has been totally ignored by the agricultural industrybecause of the general consensus that even if such a problem exists,resolution of such a problem is virtually impossible. Therefore, ingeneral, products (crop inputs) have been controlled variably in thelinear mode of travel, i.e. direction of planting or application.Agricultural product applicator systems which utilize an estimated oraverage quantity and prescription value common to all dispensing pointson a product applicator machine have been developed. Generally, thesesystems are limited to use of a cursor on a display device to locatereference points in front of a moving machine and then dispense cropinputs at the field reference points at a single predetermined variabledelivery rate which is common to all dispensing points attached to theapplicator machine. The point at which product flow is initiated isgenerally determined from factors including ground speed of theapplicator machine and the total amount of time it takes from the momentof product flow initiated from onboard the applicator machine and themoment product is dispensed from either a wet boom, dry boom, or othertype of dispensing device such as seeders and planters, for example.

A common system known to those skilled in the art of agriculturalproducts (crop inputs) application includes an agricultural machinehaving a single bin containing planting products such as seeds or cropinputs application products such as herbicides, insecticides,fertilizer, anhydrous ammonia, various chemicals, or other crop inputproducts. Some of these systems are ground-speed coordinated and startmetering product from the product bin when the applicator machinereaches an anticipated field reference point, generally dispensing cropinputs in the linear mode of travel, i.e. direction of planting orapplication. These known machines presently utilize a singlepredetermined composite average or estimated variable dispensing ratewhich is common to all dispensing points across the spreader boom,planter, seeder, or other applicator device attached to the machine.

Still needed, but not available with variable rate product applicatormachines and associated control systems presently known in the art is anagricultural products (crop input) applicator system which allows avariable rate product applicator machine to simultaneously dispense aplurality of planting products or crop inputs at a combination ofdifferent variable dispensing rates horizontally, from side to side,across a spreader boom, planter, seeder, or other applicator device asthe applicator machine crosses anticipated reference points in a fieldas they occur. Such a need exists for variable rate product applicatormachines having multiple product storage devices such as bins mountedupon the machine or having multiple conveyor and/or product flow devicesor having multiple product dispensing point devices, all of which areresponsive to a computerized control system which holds a digital soilmap of the location of various soil types, topographical features,and/or characteristics such as nutrient levels, soil compaction,drainage or any other qualifying crop production characteristic. It canreadily be appreciated that use of a single composite estimated oraverage variable machine delivery rate will be inadequate to provide foraccurate and precise application of agricultural products where morethan a single product, storage device, e.g. bin, or material transportsystem, e.g. conveyor, is used with a machine having multiple crop inputdispensing points attached thereto, and where soil types and/orcharacteristics change rapidly in a direction transverse to thedirection of machine travel. It will also be appreciated that use of asingle composite average or estimated variable dispensing rate will beinadequate to provide for accurate and precise application ofagricultural products (crop inputs) when variable rate applications arebeing made in response to premeasured field site conditions. Knownsystems generally under apply some crop inputs on one side while othercrop inputs are over applied at the other side of the applicator,planter, or seeder device, resulting in misapplication of crop inputs asthe machine crosses the field reference points. A better solution is toprovide an applicator machine with a multi-variable rate dispensingsystem which is capable of taking into consideration the type of cropinputs, premeasured soil characteristics, desired prescriptions andquantities of crop inputs, nature and location of the individual machinecrop input dispensing points employed, e.g. wet booms, dry booms,nozzles, conveyors, spinners, planters, drop tubes, injectors, etc., aswell as the ground speed and direction of the machine. Such amulti-variable rate dispensing system must be capable of evaluating eachfield reference point which is unique to each applicator machinedispensing point in order to determine a unique crop input variabledispensing rate requirement for each agricultural products (crop inputs)dispensed from each dispensing point on the applicator machine. Usingsuch a system will then prevent misapplication of the agriculturalproducts (crop inputs) to a desired target area traversed by thevariable rate applicator machine. Unless the premeasured crop inputprescription and quantity requirement differences between individualfield site locations are considered and coordinated, accurate andprecise applications are impossible. The present invention provides asolution for the management and control of the aforesaid differences.

Modern applicator machine control systems typically have a hostcontroller located within the operator cab of the machine, including aprocessor with associated input and output devices. The host isgenerally directly linked to at least one other controller which mayalso be located within the cab, and which is responsible for allcommunication to devices on the machine, such as shown in U.S. Pat. No.4,630,773, issued Dec. 23, 1986, to Ortlip, entitled Method andApparatus for Spreading Fertilizer, and U.S. Pat. No. Re 35,100, issuedNov. 28, 1995, to Monson et al., entitled Variable Rate ApplicationSystem, both assigned to Ag-Chem Equipment Company, Inc. of Minnetonka,Minn., the Assignee of the present invention. The system disclosed inthe '100 reissue patent comprises a controller accessing a soil mapindicating a soil characteristic for each portion of the field. Fieldlocations and status maps indicating current crop input level at variouslocations in a field to be treated are monitored by a control system. Acrop input map is updated after a dispensing pass to provide a real-timerecord. Position locators for the machine in the field may include "DeadReckoning", GPS, or LORAN systems, for example.

U.S. Pat. No. 5,355,815 discloses yet another closed-loop variable rateapplicator system. The system operates by determining a soilprescription in near real-time and dispenses crop inputs to the soilscene as a fraction of the soil prescription. The '815 patent is alsoassigned to Ag-Chem Equipment Company, Inc. and is incorporated hereinby reference in its entirety.

Another system is disclosed in U.S. Pat. No. 5,453,924, issued Sep. 26,1995, to Monson et al., entitled Mobile Control System Responsive ToLand Area Maps. This system expands on earlier known applicator machinecontrols systems including those heretofore assigned to Ag-ChemEquipment Company, Inc., by incorporating a network scheme which links ahost controller positioned within the operator cab to multiplecontrollers located at various points on the machine external to theoperator cab. All of the above patents are assigned to the Assignee ofthe present invention and are incorporated by reference in theirentirety herein. The control systems referenced herein above describesystems which, when properly adapted with the inventive algorithmicsoftware and associated control devices, may be used to practice thepresent invention.

BRIEF SUMMARY OF THE INVENTION

The limitations of the background art discussed herein above areovercome by the present invention which includes a multi-variable ratedispensing system adapted for use on variable rate crop input applicatormachines, and particularly agricultural products (crop inputs)applicator machines having a plurality of crop input dispensing pointsoperatively coupled thereto. As used herein, the term crop inputapplicator includes, but is not limited to any self-propelled or towedfertilizer spreaders, chemical applicators, planter devices, e.g. cornplanter, seed drill devices, air seeders, air spreaders, and anydispensing devices that spread, apply and/or inject crop inputs, e.g.lime, crop protection agents, granular and liquid herbicides,insecticides, fertilizers, chemicals, anhydrous ammonia, nitrogeninhibitor, micronutrients, seeds, and any combinations thereof Forexample, the present invention could be used to apply different ratesand/or varieties of seeds at different points on a variable rate cropinput applicator machine if so desired. The present inventivemulti-variable rate crop input applicator system addresses the problemsassociated with the unaccounted for inter-active effects of misappliedagricultural products (crop inputs) which result from use of a singlecomposite estimated or average variable dispensing rate tosimultaneously control the prescription and quantity of multipleagricultural products dispensed from multiple dispensing points attachedto a variable rate product applicator machine. The present inventivemulti-variable rate product applicator system also addresses theproblems associated with the unaccounted for effects of the aforesaidsingle composite estimated or average variable dispensing rate machineswhere a single product, and/or single product storage device, and/or asingle material transport system, in combination with a uniformspreading multi-point dispensing system is employed. Presently knownproduct applicator systems are limited by their structures and methodsto use of a single composite estimated or average system crop inputvariable delivery rate which is common to every dispensing point acrossthe application machine, regardless of whether a single or multiple cropinputs are being applied. In contrast, the present multi-variable ratedispensing system is a digital map coordinated system which iscustomized to ensure accurate and precise application of agriculturalproducts (crop inputs) to a desired target area being traversed by theapplication machine, regardless of crop input prescription and quantityrequirement differences at individual dispensing point locations acrossthe machine. A computerized control system is provided which holds adigital map of the location of various soil types, topographicalfeatures, and/or characteristics such as nutrient levels, soilcompaction, drainage or any other qualifying crop productioncharacteristic, in the field to be treated, and is responsive to machinelocating devices for determining the location of the machine in thefield, looking up the soil type, topographical features, and/orqualifying crop production characteristics of the soil the machine iscurrently over based upon its location, and simultaneously adjusting thecrop input prescription and quantity for each individual dispensingpoint in response thereto. Those applicator systems known in the arthave been controlled variably in the linear mode of travel, i.e.direction of planting or application. The present inventive mapcoordinated system will allow for variable input control in thehorizontal plane from one side to the other, either by section control(several dispensing points grouped together) or through individualdispensing point control. The increased precision and accuracy providedby the present invention also results in significant environmentaladvantages and gains by all as a consequence of reduced waste related toresource usage due to improved placement of crop inputs. As used herein,ground-speed or machine speed means machine velocity. Crop input releasepoint means the actual point where a stored product is discharged from aproduct storage device via a product metering device. Crop inputdispensing point means the actual point where a crop input product isdischarged from the application machine. The inventive multi-variablerate dispensing system can also be adapted to consider crop input flowdifferences due to distinctions in the viscosity and frictional flowcharacteristics for the different agricultural products crop inputsbeing dispensed from the applicator machine.

Use of the present multi-variable rate dispensing system allows eachapplicator machine to be customized to provide the optimum results forthe end users. For example, any specific machine can be customized bytailoring the crop input variable delivery rate for any desireddispensing point or group of dispensing points across the machine fromside to side and associated metering devices attached to the applicatormachine in response to a computerized control system which holds adigital soil map of the location of various soil types, topographicalfeatures, and/or characteristics such as nutrient levels, soilcompaction, drainage or any other qualifying crop productioncharacteristics. Variable prescription and quantity requirements for anyparticular dispensing point may differ significantly from variableprescription and quantity requirements which are associated with adifferent dispensing point which is proximal or physically located onlya few feet away from that particular dispensing point. Therefore, in anygiven situation, it may be necessary to instruct the crop inputsdispensed from adjacent dispensing points to flow at different variablerates simultaneously. When utilized for planting or seedingapplications, it may also be necessary to instruct different points onthe machine to dispense different varieties of seeds and/or vary therate of seeds to be dispensed there from. It will be readily appreciatedthat the present invention can be sued exclusively to control the ratesand/or variety of seeds dispensed from the machine in a direction thatis transverse to the direction of machine travel. Controlling thesevariable delivery rate differences is necessary when crop inputs aresimultaneously dispensed from different dispensing points on theapplication machine, each delivering a unique and distinct prescriptionand quantity of crop inputs in response to a computerized control systemwhich holds a digital soil map of the location of various soil types,topographical features, and/or any qualifying crop productioncharacteristics in the field to be treated.

While today, grid samples and other agronomic information are mostcommonly taken in two acre and above land increments, it is anticipatedby the present inventor that conducting of a much more intense level ofsoil testing, e.g. tissue sampling, as well as implementation and use ofother systems to determine crop input requirements at a given locationwill become desirable, viable and economically feasible. New andevolving methods of computer analysis will provide much more detailedand accurate data. Even now, yield monitor data is collected in realtime and can be used to help establish field site specific crop inputrequirements. Significant changes in soil conditions, topography, and/orqualifying crop production characteristics, have been found by thepresent inventor, to occur even within a distance of a few feet, forexample. Therefore, the importance of tighter control of crop inputapplication has and will continue to become more relevant and necessary.

The present inventive multi-variable rate dispensing system thereforeprovides a vast improvement over product application systems known inthe art which use cursor anticipation devices and methods tied to asingle fixed composite estimated or average variable dispensing rate fora moving applicator machine to provide some increase in accuracy andprecision when dispensing agricultural products (crop inputs). Theaforesaid improvement is the result of providing a system, as statedherein before, in which each specific dispensing point or group ofdispensing points on the applicator machine is customized with its ownprecise unique variable dispensing rate thereby ensuring thatapplication of any product to be dispensed is perfectly matched with thecrop input prescription and quantity requirements for the fieldreference point unique to each respective dispensing point or group ofdispensing points. The novel multi-variable rate dispensing system has acomputerized control system which holds at least one digital soil map ofthe location of various soil types, topographical features, and/orcharacteristics such as nutrient levels, soil compaction, drainage orany other qualifying crop production characteristics, in the field to betreated and is responsive to machine location devices for determiningthe location of the machine in the field, retrieving the type, feature,and/or qualifying crop production characteristics of the soil eachdispensing point is currently over based upon its location, andadjusting the rate and prescription of crop inputs dispensed from eachrespective dispensing point respectively. In this way, each product(crop input) is accurately and precisely dispensed for a specific targetarea of predetermined conditions, all based upon formerly measuredconditions and values for that certain target area.

In one aspect of the present invention, the construction and arrangementis employed wherein a product applicator multi-variable rate dispensingsystem is programmed relative to individual characteristics of anindividual variable rate agricultural products (crop inputs) applicatormachine, i.e. location, number, and type of individual and distinctdispensing point devices, e.g. spray nozzles, spreading wheels,injection tubes, etc.

In yet another aspect of the present invention, the construction andarrangement is employed wherein a product applicator multi-variable ratedispensing system is employed to consider individual characteristics ofone or more attached variable rate applicator machines such as a towedmachine or multiple units, side by side or towed in tandem.

A feature afforded by the present invention is improved precision andaccuracy of product dispensation including a desired mix andprescriptive quantity of product delivered at an anticipated location ofknown conditions based upon formerly measured conditions and values atthe anticipated location when the variable rate product applicatormachine arrives at the desired target location in a field.

Another feature afforded by the present invention is the provision of amulti-variable rate dispensing system that is adaptable for use with anytype and combination of one or more variable rate applicator machines.

Yet another feature afforded by the present invention is the provisionof a multi-variable rate dispensing system which allows any desiredvariable rate product applicator machine or combination of suchapplicator machines to be adapted for precision applications of cropinputs. Such modifications will maintain the integrity of the productapplication process in any manner.

Still another feature afforded by the present invention is the provisionof a multi-variable rate dispensing system which is adaptable viaalgorithmic software for use with diverse variable rate productapplicator machines, such as between a powered variable rate applicatormachine and any combination of one or more towed machines, or betweendifferent and distinct variable rate applicator machines, all whilepreserving the integrity of the product application process associatedwith the machine.

Still another feature afforded by the present invention is the provisionof a system resulting in environmental gains for all due to reducedwasting of resources as a consequence of greater accuracy and placement,i.e. place the required prescriptions and quantities of crop inputswhere it is needed and will be used, of those resources, e.g. seed,fertilizer, farm chemicals, and other crop inputs.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features of the present invention and many of the attendantadvantages of the present invention will be readily appreciated as thesame becomes better understood by reference to the detailed descriptionwhen considered in connection with the accompanying drawings in whichlike reference numerals designate like parts throughout the figuresthereof and wherein:

FIG. 1 is a simplified block diagram illustrating one embodiment of amulti-variable rate dispensing system suitable for implementing controlof crop input delivery rates and prescriptions for individual or groupsof dispensing points relative to their own unique field site inaccordance with the present invention;

FIG. 2 is a simplified block diagram illustrating a variable rateproduct application machine control system disclosed in the prior artwhich may be adapted for use with the present multi-variable ratedispensing system depicted in FIG. 1;

FIG. 3 is a simplified block diagram illustrating a FALCON® variablerate product application machine control system which may be adapted foruse with the present multi-variable rate dispensing system depicted inFIG. 1;

FIG. 4 is a more detailed block diagram of the FALCON® variable rateproduct application machine control system illustrated in FIG. 3;

FIG. 5 is a simplified flow diagram illustrating operation of thepresent inventive multi-variable rate dispensing system tosimultaneously control a plurality of agricultural products (crop input)dispensing points attached to a product application machine to vary aprescription of delivered crop inputs in a direction substantiallytransverse to a direction of machine travel;

FIG. 6 is a perspective view of a wet boom for spreading a liquidproduct upon the ground, and which is suitable for use with the presentmulti-variable rate dispensing system;

FIG. 7 is a side view of a product application machine having a productstorage tank and a wet boom such as that illustrated in FIG. 6, andwhich is adaptable for use with the present multi-variable ratedispensing system shown in FIG. 1;

FIG. 8 is a perspective view of a product application machine having amulti product box suitable for applying crop inputs at variable ratesand which is adaptable for use with the present multi-variable ratedispensing system shown in FIG. 1;

FIG. 9 is a detailed side view of the crop input application machinehaving a multi product box illustrated in FIG. 8;

FIG. 10 is a simplified block diagram illustrating implementation of thepresent multi-variable rate dispensing system onboard a SOILECTION®machine having a FALCON® control system;

FIG. 11 is a top view of a multiple combination crop input applicationsystem suitable for use with the present multi-variable rate dispensingsystem,

FIG. 12 illustrates a boom assembly using the present variable ratedispensing system to deliver crop inputs over a geographic areaexhibiting changes in soil nutrient levels; and

FIG. 13 is another illustration showing a boom assembly using thepresent variable rate dispensing system to deliver crop inputs over ageographic area exhibiting changes in soil nutrient levels.

While the above-identified drawing figures set forth alternativeembodiments, other embodiments of the present invention are alsocontemplated, as noted in the discussion. In all cases, this disclosurepresents illustrated embodiments of the present invention by way orrepresentation and not limitation. Numerous other modifications andembodiments can be devised by those skilled in the art which fall withinthe scope and spirit of the principles of this invention.

DETAILED DESCRIPTION

The preferred embodiments described as follows, address the long feltneed by those in the agricultural industry to provide a digitized mapcoordinated variable rate planting and crop input product applicationsystem capable of accurately and precisely dispensing one or moreagricultural products (crop inputs) simultaneously in a plurality ofdesired mixes and/or prescriptive quantities at a plurality ofanticipated field locations when the machine dispensing points arrive attheir respective anticipated locations in a field. In accordance withthe preferred embodiment of the present invention, and with particularattention being directed to FIG. 1, a simplified block diagramillustrating one embodiment of a multi-variable rate dispensing system50 suitable for implementing multiple crop input dispensing pointcontrol for a plurality of dispensing points 80 in response to adigitized map based upon premeasured field site conditions is shown toinclude a host computer 14, a GPS (Global Positioning System) receiver52, and a radar device 54. The GPS is an accurate three-dimensionalglobal positioning satellite system that provides radar positioning andnavigation needs for the product application machine. GPS systems areknown to those skilled in the art of satellite positioning systems andwill therefore not be discussed in great detail except as made referenceto herein after. The present invention is compatible for use with "DeadReckoning" systems and satellite positioning systems such as AgNav™,Navstar Global Positioning System, Differential GPS Systems and otherGPS based or equivalent systems to cooperatively update a residentpositioning and navigation data base on a real-time basis. Generally,the GPS is initiated when the receiver 52 starts to track pseudorandomnoise from multiple satellites and generates GPS data which issubsequently used by the machine control system, e.g. FALCON® toestimate time of arrival values for the machine to arrive at ananticipated location in a field, for example. A more detaileddescription of a GPS system can be found in U.S. Patent Application toRobert J. Monson, filed Jan. 22, 1996, entitled AUTOMATIC TOPOGRAPHICALMODEL GENERATION METHOD AND APPARATUS, which is incorporated byreference in its entirety herein. Working in combination with oneanother, the GPS receiver 52, radar device 54, and host computer 14,then track and anticipate product application crop input referencepoints in a field, utilizing machine location, speed, and directiondata. The host computer 14 also works in combination with a controlsystem such as depicted in FIG. 10 to form a computerized control systemwhich holds at least one digitized soil map of the location of varioussoil types, topographical features, and/or characteristics such asnutrient levels, soil compaction, drainage or any other qualifying cropproduction characteristic, in the field to be treated and which isresponsive to the aforesaid location, speed, and direction data fordetermining the location of the machine in the field, retrieving thetype, feature and/or qualifying crop production characteristic eachdispensing point is currently over based upon its respective location,and adjusting the rate and/or prescription of crop input delivery inresponse thereto.

Looking again at FIG. 1, the multi-variable rate dispensing system 50can be seen to have multiple products (crop inputs) dispensing points 80and associated metering devices 62. Heretofore, known variable rate cropinput delivery has been accomplished by provision of a single variabledispensing rate function incorporated into the application machinecontrol system software. It has been accepted by some in theagricultural industry, that use of a single variable rate crop inputdelivery process will adequately and effectively eliminate productspreading inaccuracies, even when spreading multiple products and/orutilizing multiple dispensing points 80 dispersed horizontallytransverse to the linear direction of machine travel. The presentinventor has found however, that product spreading inaccuracies areoften unacceptable, especially when spreading or dispensing multipleproducts, or products stored in multiple storage devices attached to avariable rate product application machine or any multiple combination ofsuch applicator machines thereof having multiple dispensing points 80distributed horizontally transverse to the linear direction ofapplicator machine travel. The foregoing spreading and/or dispensinginaccuracies also result when utilizing a single product storage deviceand/or when delivering a single crop input from a plurality ofdispensing points 80 which are distributed substantially horizontallytransverse to the linear direction of variable rate product applicationmachine travel. Site-specific crop input requirements and interrelatedconditions often require modifications to crop input delivery ratesand/or prescriptions at individual dispensing points 80 as anapplication machine traverses a field to be treated. Today, suchinterrelationships are not being considered by those familiar withsite-specific agriculture. It is anticipated by the present inventorthat recognition and appreciation of the aforesaid interrelationshipswill become more clear as more intense evaluations by those skilled inthe art are consummated. Presently a variable rate crop inputapplication machine may inaccurately apply one or more of the products(crop inputs) to the ground a few feet away from an anticipatedreference point at which the one or more crop inputs are correctlydispensed. Such inaccuracies have been found by the present inventor tooccur because significant differences in site-specific conditionsfeatures, and/or qualifying crop production characteristics can easilyoccur within a distance of only a few feet. Taking into considerationthe cost of chemicals, environmental concerns, and various agriculturalproducts (crop inputs), as well as the depressed product yields whichcan result from improper application of crop input mixes andprescriptive quantities, a need presently exists for an improvedvariable rate delivery system. Such a system must be capable of takinginto consideration, the individual dispensing rate requirements for eachdispensing point 80 or group of dispensing points 80 attached to avariable rate crop input application machine, and ensure that the cropinput dispensing process associated with each product (crop input)dispensing point 80 or group of dispensing points 80 attached to theapplication machine is individually controlled as the machine traversesa field. The aforesaid individual variable rate dispensing point controlwill ensure a desired prescription and quantity of crop inputs isdelivered to the exact field point to be treated which is unique to eachdispensing point 80 or group of such dispensing points 80. This processthen contrasts with presently known application systems where theproduct delivery processes for all product dispensing points attached tothe application machine are at best simultaneously sharing a commonvariable crop input delivery rate, but most often completely ignored.

With continued reference to FIG. 1, the present multi-variable ratedispensing system 50 also may have incorporated additional meteringdevices including, but not necessarily limited to storage bin releasepoint sensors 60, crop input flow meters and sensors 58, and/ordispensing point meters and sensors 56. These metering devices 56, 58,60, 62 are used to control and measure the product flow rates atdifferent points within the multi-variable rate dispensing system 50.For example, product flow from each storage bin is initiated by anassociated bin controller 304 when instructed via host computer 14 toactuate an associated metering device 62. It will be appreciated thatany metering device, i.e. bin pump 62 can be individually controlled tometer (release) its crop input at a variable rate which is differentfrom any other bin pump 62 metering rate within the multi-variable ratedispensing system 50. Likewise, the multi-variable rate dispensingsystem 50 may have incorporated one or more material transport systems70 interconnected to product storage devices located at different pointson the variable rate application machine or multiple combinations ofmachines thereof. Such material transport systems 70 and/or structurescan also be individually controlled to create different product flowrates throughout the system 50. Similarly, multiple dispensing points 80may also be incorporated at different physical machine locations, asstated above. Such different physical locations will add to complexitiesin individual products (crop inputs) dispensing rates controlled viacontrol points 304 within the multi-variable rated dispensing system 50.For example, it is known that wet booms and dry booms are commonly usedto spread agricultural products (crop inputs) onto the ground as aspreading machine traverses a field. These booms generally have multipleproduct dispensing points 80 dispersed over the entire length of thebooms. Thus, products to be spread onto a field through such booms willexit the product dispensing points 80 simultaneously or sequentially atdistinct field locations associated with individual dispensing points 80as the crop input reaches each dispensing point 80. The present inventorhas found that along any boom, major changes in conditions,topographical features, and/or qualifying crop productioncharacteristics, as well as application requirements stemming fromcorrectable conditions, can occur within a distance of one to ten feet.Under such varying conditions, features, and/or characteristics, eachdispensing point 80 within the boom will then have a unique and distinctvariable crop input dispensing rate and/or prescription requirementdependent on the physical machine location of the dispensing point 80relative to a common machine reference point. The present multi-variablerate system 50 can be adapted for use with appropriate spray nozzlecontrols to meter a plurality of spray nozzles in sections orindependently, thereby controlling the variable crop input deliveryrates and/or prescriptions associated with each respective dispensingpoint 80 or group of dispensing points 80.

The present invention is not so limited however, and it will readily beappreciated that any variable rate product application machine having anonboard computer 14 and a machine tracking system such as a GPS receiver52 in combination with a radar device 54 can be adapted to operate inconjunction with the present multi-variable rate dispensing system 50,regardless of the crop inputs to be dispensed, location, nature and typeof crop input storage devices, controller devices, metering and sensordevices, material transport mechanisms and devices, crop input releasepoints and dispensing points. The present multi-variable rate dispensingsystem 50 can easily be customized to work with any one or more variablerate product application machines, powered or towed, includingcombinations thereof, using either manual or automatic data entry. Eachdistinct dispensing point 80 or group of dispensing points 80 can beidentified and appropriate data manually entered into the host computer14 algorithmic software data base via a keyboard, or preprogrammed forexample; or optionally, the multi-variable rate control system 50 canautomatically interrogate the machine upon start-up to determine thenumber, type and location of each distinct dispensing point 80 andassociated metering devices 56, 58, 60, 62 attached to the machine.

It will readily be appreciated that every variable rate crop inputapplication machine has its own system of electronics, hydraulics andcontrol mechanisms which may be unique unto itself or common to a familyof variable rate application machines. The present inventive system andmethod takes these machine characteristics into consideration to controlthe necessary electronics, hydraulics and control mechanisms to ensureaccurate combinations and precise placement of crop inputs are achievedthereby elevating state of the art variable rate application technologyto a higher level. For example, the present inventive multi-variablerate dispensing system incorporates a computerized control system whichholds one or more digital soil maps of the location of various soiltypes, topographical features, and/or characteristics such as nutrientlevels, soil compaction, drainage or any other qualifying cropproduction characteristic in the field to be treated and is responsiveto machine location devices for determining the location of eachdispensing point in the field, retrieving the type, feature, and/orcharacteristic each respective dispensing point is currently over basedupon its respective location, and adjusting the rate of delivery andprescription of crop inputs delivered from each dispensing point inresponse thereto.

Making reference now to FIG. 2, one control system 100, known in theart, is illustrated having a cab mounted host computer 14, keyboard 12,monitor 10, and a single controller module 18. The controller module 18is coupled via communication cables 26 to distinct actuator devices 20and feedback devices 24. As stated herein above, the location, cropinput prescriptions and quantities, and other related data associatedwith each dispensing point 80 or group of dispensing points 80 can beentered manually via a keyboard 12, preprogrammed, or automated tocommunicate the necessary dispensing point 80 data into a host computer14 data base. For example, selected portions of the aforesaid data canbe retrieved from digitized field condition maps, as referenced anddiscussed herein above. When used in conjunction with a GPS receiver 52and/or a radar device 54, the computer 14 can be programmed inaccordance with the present invention such that as the variable ratemachine traverses the field to be planted or apply crop inputs, eachactuator 20 will be individually and distinctly actuated automaticallyto continuously meter and vary the flow of crop inputs emerging from itsrespective storage device and subsequently emerging from its associatedproduct dispensing point(s) 80 or group(s) of dispensing points 80attached to the machine in response to the digitized map data. In thismanner, the present invention will, relative to predetermined digitizedmap data, allow for variable input control in the horizontal plane fromone side to the other, either by section control (several dispensingpoints 80 grouped together) or through individual dispensing point 80control. It will readily be appreciated that the present invention willaccommodate variable rate control in a horizontal plane transverse tothe direction of machine travel for a planter or seeder to control therate and/or variety of seeds dispensed at different points on theapplication machine, if so desired by the machine operator.

Looking now at FIG. 3, another control system 200 known as FALCON®available from Ag-Chem Equipment Co., Inc. of Minnetonka, Minn., isillustrated having a cab mounted host computer 14, keyboard 12, monitor10, and further having multiple independent nodes 202. Each node 202 caninclude a unique and distinct control module 304 capable of two-waycommunication between the host computer 14 and the respective node 202and also between the node 202 and an actuator 20 such as a bin pump 62,or between a particular metering device or set of metering devices 56,58, 60 and a respective node 202. Upon machine startup, the hostcomputer 14 will prompt individual control modules 304 to interrogateeach metering device 56, 58, 60, and/or any other type of meteringdevice such as a bin pump 62, associated with that particular controlmodule 304 via a feedback network 24 such as illustrated in FIGS. 2 and4. Before the machine is put into operation, the machine can be operatedin a fully functional mode at a designated site such as themanufacturing plant to determine appropriate dispensing point 80information necessary to customize the machine according to the presentinvention. During the customization process, each control module 304 caninterrogate each metering device 56, 58, 60 and/or other device statedherein above necessary to properly customize the application machine.Presently, the best mode for implementing the present invention makesuse of predetermined dispensing point 80 information that is enteredinto the algorithmic software data base. However, it is anticipated bythe present inventor that the dispensing point 80 information describedherein above may also be automatically entered into the data base viaincorporation of appropriate metering devices 56, 58, 60 as well asalgorithmic software within the control modules 304 and/or the hostcomputer 14. The control modules 304 will then communicate the necessarydispensing point 80 data to the host computer 14 where the data isstored in a data base for use by the present inventive multi-variablerate dispensing system 50. As stated herein before, the control system300 can be adapted to include a GPS receiver 52 such that the hostcomputer 14, GPS receiver 52, and/or radar device 54 function to trackand anticipate a plurality of field reference points in real time,utilizing machine location, speed, and direction data in a manner thatallows the host computer 14 and control modules 304 to individually varythe crop input dispensing rate at each dispensing point 80 or group(s)of dispensing points 80 identified on the machine in accordance with thepresent invention. Specifically, the computerized control system 300stores one or more digital soil maps of the location of various soiltypes, topographical features, and/or characteristics such as nutrientlevels, soil compaction, drainage or any other qualifying cropproduction characteristic, in the field to be treated and is responsiveto the aforesaid machine location, speed and direction data fordetermining the location of the machine dispensing points 80 in thefield, retrieving the aforesaid type, feature and/or characteristic datathe respective dispensing point 80 is currently over based on itslocation data, and adjusting the rate of crop input delivered andprescription of crop input delivered at each respective dispensing point80 in response thereto. As stated herein above, crop inputs aredetermined by the application machine operator and may include, but arenot limited to, products such as herbicides, insecticides, fertilizer,anhydrous ammonia, and various chemicals. Crop inputs may also includeor be limited to seeds exclusively, to accommodate planter control inaccordance with the present invention. Control system 300 can optionallybe adapted to operate in accordance with the present invention using a"Dead Reckoning" system, as stated herein above. The control systems100, 200, 300 described herein are disclosed in more detail in the '924patent referenced herein before and incorporated in its entirety byreference herein, and so further details will not be discussed topreserve clarity and brevity.

FIG. 5 is a simplified flow diagram illustrating operation of thepresent inventive multi-variable rate dispensing system 50 tosimultaneously control a plurality of metering devices 306, 308 attachedto a variable rate product application machine such that each individualdispensing point 80 or group of dispensing points 80 will operate todeliver crop inputs to a predetermined field site at a unique variablerate in accordance with prescription and quantity data via a digitizedmap, for example. Starting with block 502, the host computer 14 and/orthe control modules 304 attached to the application machine areinitialized by activating the system 50, thereby actuating the operatingsystem containing the software algorithms discussed hereinafter. As usedherein, the words "software algorithms" mean algorithmic programs usedto direct the processing of data by a computer or data processingdevice. Upon initialization, the predetermined digitized map crop inputprescription data and related crop input quantity data for the field tobe treated are entered into a data base (depicted as 904 in FIG. 10),which is stored in a data storage device (shown as a portion of computer14 in FIG. 10) as depicted in block 503. The aforesaid data entry ispresently performed manually but may optionally be automaticallyperformed via appropriate algorithmic software and control devices asstated herein before. Presently, the aforesaid prescription and quantitydata is preprogrammed into the algorithmic software data base along withthe application machine signature data described herein below. Theprescription and quantity data can then be extracted by themulti-variable rate dispensing system data processing device(s) 14, 304for directing the algorithmic software to control the desired machineactuators 20, 306, 308 such that each field reference point isaccurately and precisely treated with the desired prescription andquantity of crop inputs. Following the prescription/quantity data entryprocedure depicted in block 503, each specific crop input storagedevice, i.e. bin (single and/or multi-compartment), tank, hopper, box,etc., and any crop inputs stored therein are identified as shown inblock 504. The characteristic (signature) data for each crop input andstorage device attached to the applicator machine is then placed intothe data base 904, also shown in block 504. Following entry of theaforesaid crop input and storage device data into the data base 904, thetype and location of each associated metering device actuator 20, 306,308 is identified and placed into the data base 904 as shown in block506, using any of the aforesaid manual, automatic, or preprogrammed dataentry processes. Each agricultural products (crop input) transportdevice, i.e. conveyor, spray boom (dry and/or wet), supply tube, auger,etc., is next identified as shown in block 508 and the identificationdata is also stored in the data base 904. The type and location of eachtransport device actuator 20, 306, 308 is then identified and placedinto the data base 904 as shown in block 510. Similarly, the type andlocation of each dispensing point 80 or group of dispensing points 80,e.g. spray nozzle(s), spreading wheel(s), injection tube(s), etc. andassociated actuator device(s) 20, 306, 308 is identified and placed intothe data base 904 as shown in blocks 512 and 514. During the applicationprocess, the aforesaid data is extracted from the data base 904 andutilized by the algorithmic software (enumerated as 908 in FIG. 10) suchthat each agricultural products (crop inputs) dispensing point 80 orgroup of dispensing points 80 is map coordinated as stated above anddescribed further herein after. As stated herein above, the aforesaididentification of specific features of the machine and accumulation ofassociated crop input application data into a database 904 may beaccomplished via manual, automatic, or preprogramming methods usingproduct application control system structures and procedures discussedherein adapted with appropriate sensors, metering devices andalgorithmic software in accordance with the present invention.Presently, the best mode for implementing the present invention makesuse of premeasured application and machine data which is preprogrammedinto the algorithmic software data base 904. Once the machine signatureprocess is complete, and each distinct variable rate applicator machinefeature and its associated crop input application data have beenaccumulated in a database 904, the machine can then be put intooperation utilizing a "Dead Reckoning" system, or a GPS receiver 52and/or a radar device 54 to track and anticipate particular fieldreference points, utilizing machine location, speed, and direction dataas shown in blocks 516 and 518. The machine location, speed, anddirection data are then stored in the data base 904 as shown in block520. As stated herein above, any reference to speed means velocity,including speed and instantaneous machine direction. The aforesaidlocation, speed, and direction data is extracted from the data base 904in real time to determine ongoing anticipated field reference points fordispensing the desired prescription and quantity of agriculturalproducts crop inputs as shown in block 522. The foregoing process isutilized to complete a signature or machine data base 904 for themachine as it traverses a field. Data sufficient to precisely andaccurately determine an appropriate prescription and quantity of cropinput to be delivered for each machine dispensing point 80 or groups ofdispensing points 80 as well as the time it will take each dispensingpoint 80 or group of dispensing points 80 to reach a designatedanticipated reference point (Tr)i is then extracted from the data base904 in real time for use by the host computer 14 to provide thenecessary actuator 20, 306, 308 control data shown in blocks 524, 526,and 528. Each product dispensing point 80 or group of dispensing points80 is then blue printed with its own unique variable dispensing rate foruse by an associated controller module 304 as discussed herein before.As the application machine traverses a field, each product storagemetering device, transport mechanism metering device, and dispensingpoint metering device is then actuated in harmony to ensure that theassociated dispensing point 80 or group of dispensing points 80discharges desired crop inputs that may optionally include or be limitedexclusively to seeds, at the desired product mix and/or prescriptivequantity at the anticipated locations when the application machinedispensing points 80 arrive at the anticipated locations in the field tobe treated. The inventive process and structure can therefore provideindividual variable rate control of each distinct crop input dispensingpoint 80 or group of dispensing points 80 on the variable rateapplication machine. Specifically, the multi-variable rate dispensingsystem 50 stores one or more digitized maps of the location of varioussoil data, e.g. soil type, topographical features, and/or soilcharacteristics such as nutrient leveles, soil compaction, drainage orany other qualifying crop production characteristic, in the field to betreated with desired crop inputs. The multi-variable rate dispensingsystem 50 is a computerized control system that is responsive to theaforesaid machine location, speed and direction data for determining thelocation of the machine in the field. The system 50 retrieves theaforesaid data below each individual dispensing point 80 based on itsrespective location and adjusts the rate and prescription of crop inputsdelivered at each dispensing point 80 in response thereto, such thatcrop inputs can be varied from side to side in a direction transverse tothe direction of machine travel.

FIG. 6 illustrates one embodiment for a wet boom assembly 600 having aplurality of dispensing point 80 spray nozzles 610 attached to a liquidor slurry product carrying manifold 612. The present invention is notlimited to use with a wet boom however, and it will be appreciated thata wet boom has been exemplified for ease and clarification whendescribing one embodiment for the present invention. Wet boom assemblieshaving a common product supply conduit 614 are known to those familiarwith the agricultural industry. The wet boom assembly 600 has a fluidtransmitting conduit 614 which couples the agricultural products cropinput flow between the crop input storage device, i.e., tank to which itis attached, and the manifold 612. Such structures generally initiateproduct flow to the boom assembly 600 utilizing a single meteredvariable rate crop input dispensing scheme which affects each spraynozzle 610 equally. Such methods are undesirable because the crop inputprescription and quantity requirements for a field location beingtreated via one spray nozzle 610 may differ significantly from the cropinput prescription and quantity requirements for a different fieldlocation simultaneously being treated via a different spray nozzle 610as the applicator machine traverses the field to be treated. What isdesirable and needed in the agricultural industry is a scheme wherebyeach spray nozzle 610 or group of spray nozzles 610 is attached to itsown metered supply conduit as illustrated by combined reference numerals614, 650. Such a modification of boom system 600 will allow the boomassembly 600 to be adapted for use with the present inventivemulti-variable rate dispensing system 50. For example, when a variablerate product application machine is traversing a field on its way to ananticipated field location, the crop input flow through each specificspray nozzle 610 or group of spray nozzles 610 can then be controlledutilizing its own unique dispensing rate scheme to eliminate the effectsof unaccounted for and undesirable misapplication of crop inputs throughany spray nozzle 610 or group of spray nozzles 610 when dispensing cropinputs at the anticipated field location when each machine dispensingpoint 80 or group of dispensing points 80 arrives at its respectiveanticipated location in the field. As stated herein above, the presentinvention is not limited to use with a wet boom, however. The aforesaidmulti-variable rate dispensing system 50 is just as easily adaptable foruse with dry boom systems or combinations of dry boom systems and wetboom systems, as well as planters, drills, spinners, drop tubes,injectors, etc. as discussed herein before.

The boom assembly 600 can also be adapted to perform in accordance withthe present invention when utilizing a single metered crop input commonsupply conduit 614 to supply crop inputs to all spray nozzles 610attached to the boom assembly 600 however. Although the boom assembly600 utilizing a single common supply conduit 614 provides a commonsupply of crop input to each spray nozzle 610, each individual spraynozzle 610 can utilize an adjustable orifice which is controlled via thepresent multi-rate dispensing system 50 using the inventive processshown in FIG. 5 and described herein to establish a unique variabledispensing rate. One such adjustable orifice spray nozzle suitable foruse with the present invention is described in U.S. patent applicationSer. No. 08/513,335, to Monson, filed Aug. 10, 1995, and entitledVariable Orifice Self-Adjusting Nozzle. This application (Ser. No.08/513,335) is assigned to the assignee of the present invention andincorporated by reference in its entirety herein.

Moving now to FIG. 7, a side view of a common product applicationmachine 700 familiar to those skilled in the agricultural industry, andhaving a product storage tank 704 and a wet boom assembly 600 such asthat illustrated in FIG. 6, and which is adaptable for use with thepresent inventive multi-variable rate dispensing system 50 isillustrated. Agricultural products (crop inputs) stored in the tank 704are supplied to the boom manifold 612 via the supply conduit 614, asstated above. As stated herein before, the machine 700 may be adaptedfor use with the present invention simply by providing the machine 700with a metered supply conduit 614, 650 which is unique to each spraynozzle 610 or group of spray nozzles 610, or alternatively, by utilizinga single common supply conduit 614 to supply individually controllablevariable orifice spray nozzles 610. Such nozzle 610 control will,relative to predetermined data, allow for variable input control in thehorizontal plane from one side to the other, either by section control(several spray nozzles 610 grouped together) or through individual spraynozzle 610 control.

Another type of product application machine 800 known to those familiarwith the agricultural industry, having multiple product storage bins802, 804, 806, 808, 809 and a spreading wheel 810 is illustrated inFIGS. 8 and 9. Such machines are compatible for use with computerizedcontrol systems such as described in the '773, Re '100, and '924 patentsdiscussed herein above and incorporated by reference in their entiretyherein. Generally, a host computer 14 is used in combination with amonitor 10 such as a CRT which is located within the operator cab 702for use by a machine operator to move the machine 800 to an anticipatedlocation in a field to dispense desired product mixes and/orprescriptive quantities of product when the machine 800 reaches theanticipated location in the field. A more detailed side view of theproduct application machine 800 is depicted in FIG. 9. The embodimentillustrated includes multiple storage bins 802, 804, 806, 808, 809 forstoring a plurality of planting or crop input products, or alternativelyfor storing identical products chained together via storage bin 802,804, 806, 808, 809 interconnecting devices which allow the applicationmachine to switch back and forth between desired bins storing the sameproduct during the spreading process. Systems such as the ones depictedin FIGS. 7, 8 and 9 have not yet been adapted by those skilled in theart to consider and control individual crop input metering of eachdispensing point 80 or group of dispensing points 80 attached to theapplication machine to independently vary the crop input delivery ratehorizontally transverse to the linear direction of application machinetravel. Variable rate application techniques have historically beenlimited to use of a single composite estimated or average variabledispensing rate for the application machine viewed overall as a singledispensing point traversing a field, regardless of the location andnumber of dispensing points actually attached to the machine. None ofthe known variable rate crop input applicator machines incorporatestructures and/or methods even remotely similar to the presentmulti-variable rate dispensing system 50 to individually control therate and/or prescription of crop inputs being dispensed in a horizontalplane from one side to the other at each distinct dispensing point 80 orgroup of dispensing points 80 attached to the variable rate applicatormachine. As stated herein before, single variable rate controlstructures and methods are known by the present inventor to besignificantly less than optimum. Known product application machines 700,800 incorporating multiple crop inputs, crop input storage devices,release points 830, 832, 834, 836, 838, dispensing points 80, and/ormaterial transport devices 70 will not accurately and precisely dispenseall crop inputs to be delivered at every dispensing point 80 or group ofdispensing points 80 on a machine as the machine traverses the field,due to the inability of such known systems to individually control thevariable rate of crop input delivered at each dispensing point 80 orgroup of dispensing points 80. Therefore, the present invention providesa system and process for accurately and precisely delivering specificblends and/or prescriptive quantities of seeds, fertilizers, chemicals,or other crop input products to anticipated reference locations in afield as a function of a multi-variable rate dispensing scheme whichmore accurately characterizes and compensates for the effects attributedto the spreading process by a plurality of dispensing point 80 variablesassociated with a particular machine. The present invention thusprovides a system and method of customizing any variable rateagricultural products (crop inputs) application or spreading machine,powered or towed, based on the particular machine signature or identity,to enable accurate and precise crop input applications in a horizontalplane substantially transverse to the direction of machine travel.

FIG. 10 is a simplified block diagram illustrating implementation of thepresent multi-variable rate dispensing system 50 on board a SOILECTION®machine 902 having a FALCON® variable rate control system 200manufactured by Ag-Chem Equipment Company, Inc. of Minnetonka, Minn. TheSOILECTION® machine 902 is described in detail in U.S. patentapplication Ser. No. 08/452,894 by Hauwiller et al., which is assignedto Ag-Chem Equipment Company, Inc. of Minnetonka, Minn., andincorporated by reference herein in its entirety. The invention isimplemented to enhance a resident data base 904, such as for example, ageographical information system (GIS) like the SOILECTION® GeographicalInformation System (SGIS), also manufactured by Ag-Chem EquipmentCompany, Inc. of Minnetonka, Minn., and to provide accurate data toapplication programs for use by the FALCON® (Fertilizer Applicator LocalControl Operating Network) Control System 200. This implementation ofthe invention includes use of a Global Positioning System (GPS) having aGPS receiver 52 and an associated data processor, such as describedherein above. The GPS receiver 52 and data processor are hosted by theSOILECTION® machine 902. Generally, the GPS system is initiated when thereceiver 52 starts to track pseudorandom noise from a group ofsatellites and generates time of arrival times for an anticipated fieldreference point by the product application machine. Thereafter, the GPSdata processor 52 takes over. A more complete discussion of GPSoperation is found in U.S. Patent Application by Robert J. Monson,entitled AUTOMATIC TOPOGRAPHICAL MODEL GENERATION METHOD AND APPARATUS,filed Jan. 22, 1996, and incorporated by reference herein in itsentirety as stated herein above.

Accordingly, the SOILECTION® machine 902 receives GPS data whichinformation is integrated with the multi-variable rate dispensing data,e.g. digitized data map, determined and stored in a data base 904 asillustrated in FIGS. 5 and 10, and discussed in detail herein before toestablish the exact moments in time machine dispensing point 80 actuatordevices 20, 306, 308 and any associated metering devices 56, 58, 60, 62must be activated to accurately and precisely apply the desired plantingand/or crop input products as the SOILECTION® machine 902 traverses thefield. The multi-variable rate dispensing data is integrated with theSOILECTION® machine 902 controls through the FALCON® system 200. TheFALCON® system 200 includes the FALCON® software system 908. Thesubdirectories of the FALCON® software 908 include: FALCON® 910 whichfunctions as host system and interface; net utility system 920 whichfunctions as a network utilities and diagnostics software; networkfirmware 930 in which a downloadable code such as Neuron C® resides, andGPS interface system 940 which is a dedicated section of the softwaredealing with GPS data reception and processing. More detaileddescriptions of specific FALCON® system 200 applications are disclosedin the '924 patent referenced above, as well as U.S. Patent Applicationby Robert J. Monson, entitled INTELLIGENT MOBILE PRODUCT APPLICATIONCONTROL SYSTEM, filed Dec. 13, 1995, and U.S. Patent Application byRobert J. Monson, entitled PRODUCT APPLICATION CONTROL WITH DISTRIBUTEDPROCESS MANAGER FOR USE ON MACHINES, filed Jan. 24, 1996, allincorporated by reference in their entirety herein.

As may be readily understood from FIG. 10, the multi-variable ratedispensing system 50 acquires multi-variable rate dispensing systemdata, e.g. digitized map data, which is stored in a data base 904 asdescribed above, and interacts with the FALCON® system 200 toautomatically determine and implement the precise dispensing rates foreach dispensing point 80 or group of dispensing points 80 in the productflow stream independently of any other dispensing point 80 or group ofdispensing points 80 in the product flow stream, thereby furtherenhancing the automation, precision and accuracy of site-specificfarming.

Looking now at FIG. 11, one embodiment of a multiple combination cropinput applicator machine system enumerated as 1100 which can be adaptedfor use with the present inventive multi-variable rate dispensing system50 is illustrated. The multiple combination crop input applicatormachine system 1100 includes a powered vehicle 1108 such as a tractor,but could just as well be a crop input application vehicle such as aTERRA-GATOR® machine with a fertilizer application system attached asmanufactured by Ag-Chem Equipment Company, Inc. of Minnetonka, Minn. ora Lor^(*) A1 chassis with an Air-Max® system attached as manufactured byLor^(*) A1 Products, Inc. of Benson, Minn., or any other type of cropinput applicator machine, for example. System 1100 has a single pointhitch crop input application system indicated generally at 1104,including a crop input storage tank 1102, a cultivator, and a tool baror other implement 1200. A crop input supply hose 1106, 1107 leadingfrom a metering valve 1130, 1131 on multi-product storage tank 1102supplies one or more crop inputs to a metering valve 1120 fordistribution to individual spray nozzles or other dispensing pointelements 1110 via supply hoses 650. A spreader device 1210 is showngenerally attached to the rear end of multi-product storage tank 1102and is adapted to spread a selected crop input over the ground surfaceas the system 1100 traverses a field to be treated. The storage tank1102 can be used for storing any crop input or combination of cropinputs such as phosphate fertilizer, anhydrous ammonia, or any othercrop input such as discussed herein before. The present invention isapplicable for use with single or multiple compartment tanks however. Amultiple compartment tank 1102 having two or more individualcompartments (depicted as "A" and "B" in FIG. 11) can be easily adaptedfor use with the present multi-variable rate dispensing system 50. Eachmetering device 1120, 1130, 1131, spreader device 1210, and anydispensing point devices 1110 can then be individually controlled viaactuator mechanisms 20, 306, 308 such as depicted in FIGS. 3 and 4utilizing multi-variable rate dispensing system 50 and associatedalgorithmic methods described herein before to ensure each crop input tobe dispensed at a designated field reference point will be combined toachieve the desired prescription and quantity of crop inputs based uponformerly measured conditions and values at the designated fieldreference point.

Moving on to FIG. 12, a boom assembly 600 is shown using the presentvariable rate dispensing system to deliver crop inputs over a geographicarea exhibiting changes in soil nutrient levels. Farm fields typicallyexhibit soil nutrient change lines 1200 which may be represented by amap of the field conditions determined from soil sample data taken atpredetermined points in the field. As the boom assembly 600 traversesthe field to be treated in the direction shown by the arrows 1202, it isdesirable that each dispensing point nozzle 610 deliver the desiredprescription and quantity of crop inputs required of the respective areabeing treated. With reference to FIG. 12, it can be seen that as boomassembly 600 begins to traverse the field, each nozzle 610 is treatingthe field area designated by Roman numeral II. In area II, each spraynozzle 610 is required to dispense crop inputs at the same rate. Presentvariable rate application systems are capable of performing this tasksince these prior art systems control the dispensing rate in a mannersuch that all spray nozzles 610 attached to the boom 612 deliver cropinputs at the same rate. As the boom assembly 600 continues to traversethe field in the direction of the arrows 1202, the boom assembly beginsto cross the soil nutrient change line 1200. When this condition occurs,some spray nozzles 610 enter into the field area designated by Romannumeral I. It can be seen that the spray nozzles 610 treating field areaI will be required to dispense crop inputs at a different dispensingrate than the spray nozzles 610 simultaneously treating field area II.Present variable rate application systems are not capable of performingthis task since these prior art systems are capable of dispensing cropinputs at only a single variable dispensing rate common to alldispensing point nozzles 610 at any single moment in time. The presentinvention however, is capable of simultaneously treating field areas Iand II, since the present inventive multi-variable rate dispensingsystem will independently vary the dispensing rate of crop inputs foreach spray nozzle or group of spray nozzles simultaneously. Therefore,the present invention will perform the required task of treating fieldarea I at a first required dispensing rate while simultaneously treatingfield area II at a second required dispensing rate as the multi-variablerate dispensing system 50 traverses the field to be treated.

FIG. 13 is another illustration showing a boom assembly 600 using thepresent multi-variable rate dispensing system 50 to deliver crop inputsover a geographic area exhibiting changes in soil nutrient levels. Withreference to FIG. 13, it can be seen that in addition to the soilnutrient change line exhibited in FIG. 12, a particular geographic areacan also exhibit actual soil nutrient level changes which may occurdifferently for one field area (e.g. area I) than that which occurs foranother field area (e.g. area II, for example. When this conditionoccurs, it can be seen that one end of a spray boom 612 can be requiredto dispense crop inputs over a field area in which the soil nutrientlevel is low, while simultaneously being required to dispense cropinputs over a field area in which the soil nutrient level is muchhigher. In fact, field conditions can exist in which the soil nutrientlevel is so high as not to require any crop input treatment whatsoever.Additionally, it can also be seen that any individual spray nozzle 610attached to a spray boom 612 can be simultaneously required to dispensecrop inputs at a rate which is considerably different than thedispensing rate for any other spray nozzle 610 attached to the sprayboom 612. The soil nutrient level enumerated as line 1300 in FIG. 13illustrates a linear nutrient level change while the line enumerated as1350 exhibits a nonlinear change in soil nutrient level for a particulargeographic area. Some skilled in the art have attempted to usefeathering techniques when confronted with soil conditions exhibitinglinear changes in nutrient levels. However, nonlinear changes innutrient levels have continued to perplex those skilled in the art, asapparatus and methods to accurately and precisely treat such nonlinearchanges in soil characteristics have presently remained unknown untilthis moment with the present invention. The present invention elevatesthe state of the art in variable rate application apparatus and methodssuch that each dispensing point 80, e.g. spray nozzle 610 or group ofdispensing points 80 attached to a spray boom 612 can dispense cropinputs at a unique variable dispensing rate independent of any otherspray nozzle 610 or group of spray nozzles 610 attached to the same boomassembly 600. Therefore, linear as well as nonlinear changes in soilcharacteristic, e.g. nutrient levels, such as those exhibited in FIGS.12 and 13 can now be accurately and precisely managed with theprescription and quantity of crop inputs required at each distinct fieldsite exhibiting such conditions.

This invention has been described herein in considerable detail in orderto comply with the patent statutes and to provide those skilled in theart with the information needed to apply the novel principles and toconstruct and use such specialized components as are required. In viewof the foregoing descriptions, it should be apparent that the presentinvention represents a significant departure from the prior art inconstruction and operation. Further it provides for improving thequality of crop yield and affords a more environmentally desirableapproach to site-specific farming by eliminating or significantlyreducing inaccuracies and imprecision during planting or application ofcrop inputs to a field. However, while a particular embodiment of thepresent invention has been described herein in detail, it is to beunderstood that various alterations, modifications and substitutions canbe made therein without departing from the spirit and scope of thepresent invention, as defined in the claims which follow. For example,it will be apparent to those skilled in the agricultural industry thatalthough particular storage devices, crop input transport mechanisms,crop input release points and dispensing points 80 have beenillustrated, that many other storage devices, crop input transportmechanisms, release points and dispensing points 80 will also work inconjunction with the present invention to provide the intended functionsof accurately and precisely controlling the variable rate of crop inputsdispensed at each individual dispensing point 80 independent of anyother dispensing point 80 on board a variable rate application machineto enhance the accuracy of product delivery to anticipated referencepoints in a field. It will also be understood that the present inventionwill also work with any multiple combination of powered and/or towedcrop input variable rate applicator machines including side-by-sidecombinations and tandem combinations, to ensure a desired prescriptionand quantity of crop inputs is delivered to an exact field point basedupon formerly measured conditions and values at that exact field point,as the multiple combination of crop input variable rate applicatormachines traverse a field to be treated.

Although the present invention has been described with reference topreferred embodiments, workers skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

What is claimed is:
 1. An agricultural system for application of seedsto a field, the system comprising:a vehicle; a seed dispensing systemhaving a plurality of seed dispensing points associated with thevehicle; a positioning system for determining position of the vehicle inthe field; and a control system for controlling operation of the seeddispensing system as a function of position of the vehicle in the fieldand a map which defines desired seed variety and dispensing rateinformation for specific field reference points, where the controlsystem knows a location of each dispensing point associated with thevehicle such that each dispensing point is controlled independent ofother dispensing points and delivers a desired seed variety at a desireddispensing rate that varies based on the location of each dispensingpoint relative to the field reference points.
 2. A planter fordispensing seeds over a desired land area, the planter comprising:aplurality of seed dispensing points; and a control system that knows aposition of each dispensing point such that the control systemindividually controls seed variety and seed dispensing rate at each ofthe plurality of dispensing points based upon the position of eachdispensing point with respect to the desired land area.
 3. A plantercomprising:a plurality of seed dispensing points; a plurality ofactuators operatively coupled to selected seed dispensing points; apositioning system for anticipating a field reference point andgenerating anticipated field reference point data in real time as theplanter traverses a field; and a dispensing control system that knows aposition of each seed dispensing point such that the control systemcontrols the actuators as a function of the anticipated field referencepoint data and position of the respective seed dispensing points on theplanter in a direction transverse to a direction of travel of theplanter so that dispensing of seeds at each seed dispensing point canvary from dispensing of seeds at another dispensing point.
 4. Theplanter of claim 3 wherein the dispensing control system individuallycontrols seed variety dispensed at each dispensing point.
 5. The planterof claim 3 wherein the dispensing control system individually controlsseed dispensing rate at each dispensing point.
 6. A method of dispensingseeds to a predetermined geographic land area, the methodcomprising:causing a planter having a plurality of seed dispensingpoints to travel over a desired surface area of the geographic landarea; inputting a position of each seed dispensing point on the planter:determining an anticipated field reference point in real time;individually controlling dispensing of seeds at each dispensing point asa function of digital map data, the anticipated field reference point,and the position of each dispensing point on the planter, such thatdispensing of seeds is controlled in a direction transverse to adirection of travel of the planter so that dispensing of seeds at eachseed dispensing point can vary from dispensing of seeds at anotherdispensing point.
 7. The method of claim 6 wherein individuallycontrolling dispensing of seeds includes individually controlling seedvariety dispensed at each dispensing point.
 8. The method of claim 6wherein individually controlling dispensing of seeds includesindividually controlling seed dispensing rate at each dispensing point.9. A method of dispensing seeds to a predetermined geographic land areacomprising:causing a planter having a plurality of seed dispensingpoints to travel over a desired surface area of the geographic landarea; inputting a location of each seed dispensing point on the planter:determining an anticipated field reference point in real time; providinga map of seed dispensing information as a function of location of eachdispensing point within said plurality of crop input dispensing points;and utilizing the seed dispensing information and the anticipated fieldreference point to individually control selected dispensing points sothat dispensing of seed may vary in a direction substantially transverseto a direction of planter travel.
 10. A method of dispensing seeds to apredetermined geographic land area, the method comprising:causing aplanter having a plurality of seed dispensing points to travel over adesired surface area of the geographic land area; inputting a positionof each seed dispensing point on the planter: determining an anticipatedfield reference point in real time; individually controlling dispensingof seeds at each dispensing point as a function of digital map data, theanticipated field reference point, and the position of each dispensingpoint on the planter, such that seed variety and seed dispensing rateare individually controlled at each dispensing point.